http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
차량 플랫폼에 최적화한 자차량 에고 모션 추정에 관한 연구
송문형,신동호,Song, Moon-Hyung,Shin, Dong-Ho 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.9
This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.
자율주행 자동차의 승차감 향상을 위한 차선 변경 경로 생성 기법 비교 연구
송문형(Moon-hyung Song),김창일(Chang-il Kim),이광수(Kwang-soo Lee),김문식(Mook-sik Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.11
Most of OEM of vehicle has been developing autonomous system in which the vehicle does not require a driver’s control. By this consistent effort, we can expect that the customer will be able to experience the autonomous vehicle in daily life. However, the view of general public is still in doubt regarding on the safety of autonomous vehicle. To ensure its safety, therefore, the high level of driving comfort is crucial to satisfy the customer with its vehicle. This paper explains the similarity of a human driver to the autonomous vehicle system by applying certain human factor. Within its similarities, the various direction to create the safe driving path will be introduced. And from the simulation of its outcome, the relative comparison can be made on each method to see the advantage of the system.
자율주행차량의 횡방향제어를 위한 슬라이딩 관측기 기반 슬라이딩 모드제어기
송문형(Moonhyung Song),김창일(Changil Kim),이광수(Kwangsoo Lee),김종민(Jongmin Kim),김문식(Moonsik Kim) 한국자동차공학회 2017 한국자동차공학회 부문종합 학술대회 Vol.2017 No.5
In this paper, the lateral controller for path tracking of autonomous vehicle is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model error, the proposed system is designed according to the sliding mode control with sliding observer estimating side slip angle and yaw rate of vehicle. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground.
시뮬레이션을 기반으로 한 초음파 사각지역 경보 시스템 개발
송문형(Moon-hyung Song),김창일(Chang-il Kim),이광수(Kwang-soo Lee),김문식(Mook-sik Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
Recently, vehicle OEMs have begun to put considerable effort in developing ADAS to satisfy the customer’s new requirement. In striving to keep pace with the rapid changes in the market, this paper presents the development process for the multi-function ADAS module which integrates PAS and BSD using ultrasonic sensors. Development process is based on simulation in PreScan environment, and the proposed BSD algorithm is developed and evaluated in Matlab stateflow toolbox environment.
Kalman Filter를 이용한 자차량 Ego-motion 추정에 관한 연구
송문형(MoonHyung Song),신동호(Dongho Shin) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
The extraction of ego-motion information(e.g. velocity and angular velocity with respect to 3-axis) of the vehicle is much demanded for a lot of driver assistance applications such like collision avoidance system, obstacle detection, and so on. This paper introduces a novel method for vehicle’s ego-motion estimation through EKF (Extended Kalman Filter) of which measurements are obtained from the 2G1Y combo inertial sensor and stereo camera. To enhance the exactness of the proposed methodology, the vehicle lateral dynamics have been taken into account with which the state evolution equation have been augmented. The experiment have been executed and shown that the purposed method estimates the ego vehicvle velocity and angular velocity with high accuracy.
차량 플랫폼에 최적화한 자차량 에고 모션 추정에 관한 연구
송문형(Moon-Hyung Song),신동호(Dong-Ho Shin) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4
This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.
송문형(MoonHyung Song),정우현(WooHyun Jung),한인석(InSuck Han),신동호(Dongho Shin) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper presents a identification method of sliding door system for passenger car called by IRSD(Invisible Rail Sliding Door) system, which gets over the limitations of the existing sliding door system in design stage. To design a door speed controller, it is essential to identify IRSD system with high accuracy. Two identification methods (Model based modeling and Black Box modeling) have been studied to find a mathematical model together with optimal values of unknown parameters. The results from two different methods show high similarity and it is validated through the comparison with sensor output that IRSD system identification shows good performance.